CN106537268A - Method and system for assigning control authorization to computer - Google Patents
Method and system for assigning control authorization to computer Download PDFInfo
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- CN106537268A CN106537268A CN201580040702.5A CN201580040702A CN106537268A CN 106537268 A CN106537268 A CN 106537268A CN 201580040702 A CN201580040702 A CN 201580040702A CN 106537268 A CN106537268 A CN 106537268A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/1629—Error detection by comparing the output of redundant processing systems
- G06F11/1654—Error detection by comparing the output of redundant processing systems where the output of only one of the redundant processing components can drive the attached hardware, e.g. memory or I/O
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0426—Programming the control sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/1629—Error detection by comparing the output of redundant processing systems
- G06F11/1633—Error detection by comparing the output of redundant processing systems using mutual exchange of the output between the redundant processing components
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/1675—Temporal synchronisation or re-synchronisation of redundant processing components
- G06F11/1687—Temporal synchronisation or re-synchronisation of redundant processing components at event level, e.g. by interrupt or result of polling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2231—Master slave
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2237—Selection of master or slave
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24189—Redundant processors monitor same point, common parameters
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Quality & Reliability (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Hardware Redundancy (AREA)
- Control By Computers (AREA)
Abstract
The invention relates to a system (1), comprising at least two asynchronous computers (2-i), on each of which at least one application (A) is executed, which provides control data (SD) for at least one actuation system (3), wherein the provided control data (SD) are transmitted by a control-authorized computer (2-i) that assumes a master computer status (M-RS) to the actuation system (3) for the control thereof, wherein the computers (2-i) of the system (1) cyclically exchange state data (ZD) and performance data (LD) with each other by means of a data interface in a data exchange (DAS), wherein the computers (2-i) each determine, on the basis of the state and performance data (ZDopp, LDopp) received from other computers (2-j) and on the basis of the computer's own state and performance data (ZDown, LDown) in a master/slave selection (MSA) performed on the computer (2-i), a computer status (RS) as a control-authorized or non-control-authorized computer (2-i) to be assumed by the particular computer (2-i) itself.
Description
Technical field
The present invention relates to assign control authority for by principal and subordinate's selection method to computer method and system.
Background technology
System can include multiple different parts.For control unit, use as control unit and control can be provided
The computer of data.The computer can perform one or more application or application program, the application or application
Program provides control data to control the system unit of involved system.Part here to be controlled include executor or
Person's actuator part, the executor or actuator part are controlled according to the control data for being obtained.Especially in peace
It is necessary that actuator to be controlled obtains constantly and reliably correct control data in complete critical system.Cause
This, in the critical system of such safety, redundantly arranges control unit or control computer mostly.In vehicle, hold
The part of the determination of row mechanism or executor are that safety is critical so that do not allow the failure that control data occurs.In vehicle
The example of the critical actuator unit of such safety be Vehicular brake device and/or Vehicular steering control apparatus.If many
Individual computer is responsible for the control of critical actuator part or that safety is critical of such safety, then it is necessary that bright
Really determine in redundant computer which be that Jing controls are authorized or give actuator supply control data.
The content of the invention
Therefore, task of the invention be realize it is a kind of for explicitly assigning control authority to one of multiple computers
Method and system, reliably avoids the conflict of the control aspect in part between computer by described method and system.
According to the present invention, the task is solved by the system with the feature illustrated in Patent right requirement 1.
Therefore, according in a first aspect, the present invention realizes a kind of system, the system has：At least two asynchronous computers,
Perform at least one application at least two asynchronous computer respectively, at least one application is provided at least one
The control data of individual actuator, the control data provided in which by occupy master-computer mode for this controlled authorize
Computer transmit to the actuator be used for the actuator control, wherein the computer of the system pass through data
Interface is cyclically exchanged with each other status data and power data in data exchange, wherein the computer is based respectively on described
The status data obtained from other computer in data exchange and power data and the status data and power based on itself
Data determine in the principal and subordinate that performs on the computer selects treat by corresponding computer itself occupy as Jing controls
The computer mode of computer that is authorizing or authorizing without control.
In a kind of possible embodiment of the system according to the present invention, the status data for being exchanged of computer has
The following status data of computer：The status data illustrates the computer mode of computer.
In a kind of possible embodiment, the computer mode here of computer preferably has：
Master-the computer mode of the computer for controlling to authorize as Jing,
As the computer authorized without control from-computer mode and
As m- computer mode in the master of the computer for still being authorized by control.
In the alternatively possible embodiment of the system according to the present invention, each computer of the system is assigned
Time window belonging to having, the computer described in the time window occupy m- computer shape in master in order to avoid master-main conflict
State, wherein the time window of the different computers for the system assigned is different.
In the alternatively possible embodiment of the system according to the present invention, the time window point of the computer is dispatched to
Great Yu not the following time period：The time period is by the asynchronism in the mutual communication cycle of the computer and/or passes through
Asynchronism in the computer starting causes.
In the alternatively possible embodiment of the system according to the present invention, the two of two different computers are dispatched to
The time difference of individual time window is more than the following time period, and the time period is replied for the data transfer to computer other respectively is
It is required.
In the alternatively possible embodiment of the system according to the present invention, computer is after acknowledging time section expires
Just occupy the computer mode determined for the computer of the computer.
In the alternatively possible embodiment of the system according to the present invention, each computer of the system based on
With the status data and power data and the status data and work(based on itself obtained in the data exchange of other computer
Rate data are that the other computer determines an expectation-computer mode respectively.
In the alternatively possible embodiment of the system according to the present invention, the computer of the system is based respectively on institute
Expectation-computer the shape stated status data and power data and determined based on the computer involved by remaining computer is
State determines the computer mode for treating itself to occupy by the computer in the principal and subordinate performed on the computer selects.
In the alternatively possible embodiment of the system according to the present invention, additionally basis occurs in a computer
At least one computer interrupts to realize treating the determination of the computer mode occupied by the computer.
The computer interruption can be preferred that power breakdown.
In the alternatively possible embodiment of the system according to the present invention, the system is that the safety of redundancy is critical
System, especially distributed system, the anti-ground transmitting control data that fails of the system is at least one actuator.
In the alternatively possible embodiment of the system according to the present invention, it is expired in the confirmation time period of computer
Occupy the computer transmitting control data of the master-computer mode determined for the computer afterwards to the actuator and one
Master-the computer mode occupied of the computer is kept directly, until the principal and subordinate performed on the computer selects true
Surely it is used for another computer mode of the computer.
In the alternatively possible embodiment of the system according to the present invention, only occupy when up to the present
The other computer of master-computer mode occupies other computer mode and in involved computer（Occupy
From the computer of-computer mode）The principal and subordinate of upper execution select for involved computer determine master-computer mode when
Wait, occupied from the computer of-computer mode and just occupied the master-meter has been transformed to from-computer mode from described
Calculation machine state.
In the alternatively possible embodiment of the system according to the present invention, the status data of computer illustrates the meter
The state of calculation machine.
In the alternatively possible embodiment of the system according to the present invention, power data is illustrated on the computer
The performance of at least one application performed to produce the control data.
Additionally, according on the other hand, the present invention is realized with the feature illustrated in Patent right requirement 15 for dividing
The method for sending control authority.
Accordingly, the present invention realize it is a kind of for assigning method of the control authority to one of multiple asynchronous computers of system,
Controlling actuator, wherein methods described has steps of computer described in wherein described control authority mandate：
Selected by the principal and subordinate that performs on corresponding computer, based on the shape obtained from other computer in data exchange
State data and power data and the status data of itself and power data based on the corresponding computer are calculated for each
Machine determines the computer mode for treating to occupy by corresponding computer；And
Assign and give lower computer for the control authority for controlling actuator：It is true in its principal and subordinate selects for the computer
Master-computer mode is determined.
Description of the drawings
Additionally, refer to the attached drawing elaborates the system according to the present invention and root for assigning control authority to computer
According to the possible embodiment of the method for the present invention.
Wherein：
Fig. 1 is illustrated for illustrating the simple block diagram of the exemplary embodiment of the system according to the present invention；
Fig. 2 is illustrated for illustrating the work for being used for the method according to the invention and the system according to the present invention for assigning control authority
Make the schematic diagram of principle；
Fig. 3 is illustrated for illustrating the exemplary embodiment for assigning control authority to the method according to the invention of computer
Simple flow chart.
Specific embodiment
As can be seen in Figure 1 like that, the system according to the present invention 1 includes at least two in the embodiment illustrated
Individual computer R, at least two computer can perform at least one respectively and apply A.This is provided for system using A
Control data SD of 1 at least one actuator AKT.In the embodiment illustrated in fig. 1, system 1 has two asynchronous meters
Calculation machine 2-1,2-2, they are in communication with each other or are exchanged with each other data.The two computers 2-1,2-2 are being counted by data-interface
Status data ZD and power data LD is exchanged with each other cyclically according to exchanging in DAS.Data exchange here periodically, namely with pre-
Given Time constant spacing is carried out.Based on the shape obtained from least one other computer in data exchange DAS
State data and power data ZDopp、LDoppAnd the status data based on itself and power data ZDown、LDownIn the meter
The principal and subordinate that performs on calculation machine R determine in selecting MSA treat by occupy controlling to authorize as Jing of corresponding computer 2-i itself or
The computer mode of the computer that person is authorized without control.In the redundant system 1 that figure 1 illustrates, two computers 2-1,2-2
Produce control data, but only Jing control authorize computer transmitting control data to actuator 3 for the execution
The control of mechanism.Actuator can be system unit, especially critical safely system unit, and the vehicle braking of such as vehicle is singly
Unit.Control data for example can by control data bus by Jing control authorize computer transmit to actuator 3 for
The control of the actuator.
The status data ZD for being exchanged of the computer preferably status datas with computer, the status data illustrate phase
Computer mode RS of the computer 2-i for answering.The computer mode here of computer is preferably with the meter for controlling to authorize as Jing
Master-the computer mode of calculation machine（M-RS）, as without control authorize computer from-computer mode（S-RS）, and make
For m- computer mode in the master of the computer for temporarily being authorized by control（MI-RS）.In the system according to the present invention 1, it is ensured that
Control authority SB is to the clear and definite of computer 2-i and therefore reliable assigns for controlling actuator 3.Qualification or
The assignment of person's control authority is clearly or ensuring escapement from confliction enters between the different computer 2-i for redundantly arranging of system 1
OK.Principal and subordinate is carried out between different computer 2-i and selects MSA.Principal and subordinate's mechanism is suitable for answering for redundantly implementing
With or the asynchronous system of subregion cluster PC in guarantee system conformance.In the asynchronous system 1 that figure 1 illustrates, computer 2-i or
Person which asynchronously works using A.If necessary for very short time window, Duo Geji for example during the conversion of computer mode
Calculation machine can Jing control authorize or without control authorize.
In a kind of possible embodiment of the system according to the present invention, in the computer for redundantly arranging of system 1
Each be assigned with belonging to time window ZF, in the time window, corresponding computer 2-i is in order to avoid master-main conflict
Occupy m- computer mode MI-RS in master.Here is dispatched to the time window ZF of different computer 2-i preferably for system 1
Different computer 2-i are different.In the part with the same loop time, can be in same circulation i or at one
There is in circulation time migration ground to exchange information or information data.By two computer 2-1, -2 two energy supply units
Freely activate between time difference produce further asynchronism.On the one hand by the energy for corresponding computer 2-i
Time shift or prolong that machinery in the thyristor of the power control in the switch for freely activating of supply is determined
Late and on the other hand by corresponding onboard power system until the dynamic of the energy supply plug of described two asynchronous computer 2-1,2-2
Property produce the asynchronism.
Based on the asynchronism for existing, following time period Δ t is produced：Two computers 2-1,2- described in the time period
2 start its principal and subordinate selects MSA, and also as corresponding computer assigns control authority.The time window ZF for being dispatched to computer is preferred
Ground is respectively greater than following time period ZS：The time period is by the asynchronism in the mutual communication cycles of the computer 2-i
And/or caused by the asynchronism when the computer 2-i starts.Figure 1 illustrates two for redundant system 1 count
Calculation machine 2-1,2-2, the time window ZF for being assigned differently should be adjusted or difference is selected longly.
Draw：
Δt >Time period（The asynchronism of communication cycle）+ the time period（Typical asynchronous during startup）.
Additionally, the time difference for being dispatched to two time window ZF of two different computer 2-1,2-2 is preferably greater than following
Time period ZS ground is selected, and it is required that time period ZS is replied for the data transfer to corresponding other computer.
ABS（Δt（Rown）-Δt（Ropp））>Time period（To RoppData transfer reply）.
The two computers 2-1,2-2 for example leading-main conflict in the case of be immediately placed on from-computer mode.
In order to assign for controlling the qualification of actuator 3 in traffic coverage, principal and subordinate's algorithm or principal and subordinate select MSA to distinguish
Run on described two computer 2-1,2-2.Here, process with regard to the part in system 1 state status data ZD with
And the power data LD of the part, the part is preferably determined in preposition basic process BP and is considered for phase
The analysis answered.Successful principal and subordinate select after can determine it is following as a result：It is every in for different computer 2-1,2-2
One transmission is main-mark or from-mark and be there in that application for running A or each is local again
Ground transmission master-identify or from-mark.
Mark preferred descriptions, corresponding computer 2-i in terms of actuator 3 be whether the computer that Jing controls are authorized or
The computer that person is authorized without control.Then or from computer 2-1 the actuator 3 of system 1 obtains data or control number
Control data SD2 is obtained according to SD1 or from computer 2-2, there is main-mark depending on which in two computers 2-1,2-2
And therefore depending on the control aspect of actuator 3 has changed into current master-computer.
Actuator 3 itself here of system 1 is not generally reexamined, and whether control data SD of arrival comes from authorization machine
Structure.Control data SD up to actuator is considered in actuator 3 anyway, that is, actuator is by according to being obtained
The function of the suitable described actuator in control data execution system 1.This following particular advantage of offer：That is system 1 is held
Row mechanism 3 can particularly simply be carried out in a situation in which the method according to the present invention is applied or realize.That is, for transporting
The technology of the actuator 3 in row system 1 is expended in the feelings using the system according to the present invention 1 or the method according to the invention
It is significantly reduced under condition.
When not only control data SD is sent to actuator 3 from the computer that unique Jing controls mandate,
The filtration of received control data SD can be carried out in actuator 3.If also without the computer for controlling to authorize from Jing
Receive control data SD, then receive control data SD of the first computer that Jing controls are authorized as control data.If possible
Two computers occur as the computer that Jing controls to authorize simultaneously, and their data were received by actuator 3 in the same time,
Then one of the two computers are confirmed as preferentially.Prioritization here for example can be entered based on previously determined rule
OK.The computer that identified Jing controls have been authorized in actuator 3 and the meter that another Jing controls are authorized in operation
In the case that calculation machine is added, for example, can only receive the control data of the computer that original Jing controls are authorized.Newly add
Control data SD for adding the computer that the Jing controls for coming are authorized can be dropped in this case.
The system that figure 1 illustrates is related to asynchronous superfluous with least two computer 2-i for functioning independently
Remaining system.Each computer is in the certain visuals field of the moment ti with the part to its environment or system 1.The visual field is in system
Exist in moment ti ± asynchronous time in 1 another computer.In application according to the present invention control authority system of selection
In system 1, therefore the synchronization of the costliness for not needing computer 2-i mutual.Each computer is after acknowledging time section expires
Just occupy computer mode RS determined for which of the computer.
Each computer 2-i of system 1 is based on the shape obtained by other computer in data exchange DAS
State data and power data ZDopp、LDoppAnd the status data based on itself and power data ZDown、LDownIn the meter
Computer mode RS of itself is determined in principal and subordinate's mechanism MSA performed on calculation machine and at least one other computer 2-
Expectation-computer mode E-RS of i.This also schematically shows in fig. 2.The principal and subordinate's selection method one performed on computer i
Aspect determines treats computer that is being occupied by corresponding computer R itself, controlling to authorize as Jing or authorizing without control
Computer mode RS and additionally determine expectation-computer mode E- for the other computer of the difference in system 1
RS.This here is based on the status data and power number obtained by least one other computer 2-i in data exchange DAS
According to ZDopp、LDoppAnd the status data of itself and power data ZD based on corresponding computer 2-iown、LDownCarry out.One
In kind possible embodiment, treat the determination of the computer mode occupied by computer additionally according to going out in the computer
At least one existing computer interrupts RI to carry out, as schematically shown in fig. 2.The computer interrupts
For the power breakdown of involved computer 2-i.
Additionally, the computer 2-i of system 1 respectively can based on status data and power data and based on by system its
Remaining computer is that expectation-computer mode E-RS that involved computer 2-i determines determines during principal and subordinate selects MSA and waits to lead to
The computer mode that computer 2-i occupies itself is crossed, as equally schematically indicated that in fig. 2.It is shown in figure 2
Principal and subordinate's selection method is carried out on all asynchronous computer 2-i for redundantly arranging of the critical system 1 of safety, such as example in Fig. 1
In illustrate as.System 1 is preferably the critical system of safety of redundancy, and especially distributed system, prevents in the system
Failure ground transmitting control data SD is at least one actuator 3 of system 1.The transmission of control data SD from system 1 is
This computer 2-i departure place for authorizing is carried out.
Computer 2-i（Computer 2-i occupies the master-computer shape determined for which after its acknowledging time section expires
State M-RS）Transmitting control data SD is to actuator 3 and is always maintained at its master-computer mode occupied, until in institute
State the principal and subordinate performed on computer 2-i select MSA to determine for the computer 2-i other computer mode RS.
When the other computer for up to the present having occupied master-computer mode M-RS occupies other computer shape
State and in involved computer（The computer 2-i from-computer mode S-RS is occupied）The principal and subordinate of upper execution selects
MSAiWhen determining master-computer mode M-RS for involved computer 2-i, occupy from-computer mode S-RS
Computer 2-i just transform to the master-computer mode from being occupied from-computer mode.
Of the invention in the system 1 of redundancy, especially in the system 1 of the redundancy being made from multiple components
Assign in the method for control authority or transmitting rights or qualification, by the proper computer what a is authorized to this of system 1
2-i carries out the control of actuator 3.Here, status data and power data ZD, LD are considered and are utilized by the part of system 1.
Based on the data analyzed, proper what a computer 2-i of just what a part or control unit namely system 1 obtains quilt
Assign the authority for controlling actuator 3 or the qualification as main equipment.The main equipment is individually born as main equipment always
Blame the control of actuator 3 and be always maintained at, until principal and subordinate selects the main equipment is downgraded into from equipment.Protected from equipment always
Hold and be from equipment and the control of not responsible actuator 3 and be always maintained at, until should be main equipment from equipment lifting.This
Outward, just become from equipment when main equipment is downgraded into from equipment and is stated into from equipment and is got out control actuator 3
Main equipment.
The status data ZD exchanged between computer 2-i includes the status data of computer.Computer can be preferably
Occupy one of three different computer modes RS, lead-it is computer mode M-RS, m- from-computer mode S-RS and master
Computer mode MI-RS.The main middle MI-RS of state is for example occupied in computer starting.It is m- in the main centre of state or master
Computer mode MI-RS illustrates that corresponding computer occupies the other calculating of master-computer mode M-RS currently without seeing
Machine.In master, m- computer mode MI-RS can be accounted in one or more circulation by multiple computer 2-i of system 1 simultaneously
Have.Occupy it is main in the computer of m- computer mode MI-RS actuator is acted on during the time period as main equipment
3。
The status data ZD exchanged between the computer 2-i of system 1 includes computer mode RS of corresponding computer.Shape
Therefore state data include principal and subordinate's information（It is master and slave, middle）And can include in a kind of possible embodiment other data,
Especially time-out shortens instruction and other status datas.Except status data ZD, power data is also exchanged between computer 2-i
LD.The power data LD explanation power or work efficiency or performance rate.The performance rate for example comes real as scalar
It is existing, such as in 0 to 9 value scope.The performance rate is preferred to describe such as one dividing using A's or including multiple applications
The enforcement quality of area's cluster, the plurality of application constitute observation unit BE.Once computer 2-i can be provided with regard to corresponding observation
Unit（Using or subregion cluster）More preferable or higher performance rate, then computer 2-i heres preferably escalate into it is main-
Computer is led-computer mode M-RS.By the method according to the invention, except performance rate or power data
The state of computer is also contemplated for outside LD or status data ZD is considered.Impliedly, by the method according to the invention therefore reality
The prioritization of computer during the different operation phase of system 1 now, especially during the startup of system 1.
For each state of the computer 2-i of system 1, itself priority or the performance of itself etc. are not only checked
Level is relative to another or opposite（Opposite is contrary）Whether computer is identical, less or bigger, and preferably
Ground checks that the opposite computer 2-i of system 1 there is what to be expected or another computer 2-i with regard to the priority of itself
For involved itself（Own）Which expectation-computer mode E-RS computers has determined that.That is, in root
According to additionally considering in a kind of possible embodiment of the method for the present invention, opposite computer is used as expectation-computer
Whether state is it has been determined that whether involved computer should occupy master-computer mode.
Table below TAB illustrates the method according to the invention and the system according to the present invention 1 a kind of possible reality
It is existing.
The realization for illustrating in the table is related to the system 1 with two computers 2-1,2-2, it is as illustrated in fig. 1 that
Sample.The form can be implemented as parameterized lookup table.Each computer possesses a corresponding lookup table.The parameter
Here is constituted by for realizing the counter status of time-out or time delay.The exemplary realization for illustrating in the table
In, 37 kinds of possible system modes for two computers are shown in 37 rows of lookup table.Two computer 2-1,
Each in 2-2 is occupied as the role from m- computer or master-computer in-computer, master.By principal and subordinate's selection method
The primary data or mark of generation is output during circulation i and circulation i+1, as illustrated in the table.
The first row of form illustrates the identifier ID of different system modes.
The role of the first computer 2-i in secondary series explanation system 1.
3rd row illustrate the computer 2-i priority or performance compared with another computer 2-2 of identical systems 1 etc.
Level.It means that the first computer 2-1 itself（Own）Performance rate or be equal to, less or greater than opposite
（Opposite is contrary）The performance rate of another computer 2-2.
Expectation-computer mode E-RS determined by another computer 2-2 is shown in the 4th row, namely is calculated by second
Machine 2-2 is expectation-computer mode E-RS that the first computer 2-1 determines.
Mark is interrupted in the explanation in the 5th row of form, is for computer and interrupts RI, especially with the presence or absence of computer
Power breakdown.
In the exemplary realization for illustrating in the table, expect-computer mode E-RS can occupy value 0 or value 1.0 table
Show, the view of another computer or opposite computer 2-2 is that the first computer 2-1 of itself is not main equipment respectively.
Conversely, 1 represents that the view of opposite another computer 2-2 is that the first computer 2-1 of itself is main equipment.
If having selected for main equipment and having started process, interrupt mark and be set.This for example can serve as
The no identification labelling restarted or start that there is computer.In the continuous service of the computer in system 1, for example, can occur
So-called power breakdown, computer failure and and then and heavy-duty service in the case of the power breakdown.
The row " beMSStatusOwn " for illustrating in the table illustrate that corresponding computer is main equipment.Next column
" beMSStatusIntermediate " is illustrated, computer has occupied m- computer mode MI-RS in master.Row
" pcMSStatusOpp " is illustrated, opposite another computer（Opp- computers）It should be master-computer.Illustrate in the table
X- description of symbols, the statement on involved position is inessential.
These row with regard to circulating i illustrate the memory updating with regard to circulating i.These row with regard to circulating i+1 illustrate pass
In the memory updating of circulation i+1, the memory updating of the subsequent cycle of system 1 is for.
The calculating of the primary data or mark for subsequent cycle i+1, each computer 2-i are selected for principal and subordinate
MSA does not consider opposite another computer, but itself.Opposite another computer equally implements principal and subordinate independently to this
Selection method MSA and for itself determining which state which occupies.
If not obtaining data from another computer by a computer, principal and subordinate's selection method with predetermined parameter or
Default value works.
Start in the row 1 of form, produce following.If involved computer is from-computer, namely is occupied from-meter
Calculation machine state S-RS and with opposite another computer identical priority or identical performance rate, and separately
The not expected involved computer of one computer should be master-computer and there is no computer interruption RI in addition, then involved
Computer, as shown in the row 1 in form, be placed in it is main in m- computer mode MI-RS.Additionally, the computer
To the mark set for process adapter.If the specific intervalometer of computer or timer expire（Change）, the timing
Device or timer are started by the set of mark, namely after the n circulation of predetermined number, then computer is from master
M- computer mode MI-RS transforms to master-computer mode M-RS.
Intervalometer or timer measuring response time.The response time preferred computer is specifically conditioned and preferably
For each computer 2-i is different.
The row for illustrating in the table is possible state and the arrangement for calculating.When each row for illustrating in the table is not indicated that
Between process.Typically, starting the crossing site excessively to the final situation with result phase from the initial conditions with original state
Multiple rows of form are crossed in the traversal of scape.Here, circulation is calculated for every, process a row.
In order to determine the function quality or performance quality of maximum possible, for each observation unit BE namely
For each application or each by the subregion cluster PC that multiple applications are constituted cyclically can determine performance or work effect
Rate.The different computers of system 1 be cyclically exchanged with each other power data LD and the power data itself can with it is thus determined that,
Which in the computer can provide best performance for observed unit.
Methods described follows following strategy during circular flow：
If computer is main equipment with regard to observation unit, the computer always remains as main equipment, until the computer is certainly
Body surrenders the main equipment-role or the master-computer mode.
If two computers simultaneously participate in principal and subordinate's distribution, only when main equipment up to the present has surrendered its angle
Color or when being downgraded in principal and subordinate's selection method from-computer, the computer held from equipment-role is just switched to
Main equipment.When master-computer failure, master-computer for example just loses its main equipment-role.
The method according to the invention significantly reduces the complexity of qualification or control authority assignment.
In a kind of possible embodiment, the corresponding program preferably by performing on the microprocessor of computer 2-i
MSA is selected to carry out principal and subordinate.Each computer 2-i itself independently performs such principal and subordinate with another computer and selects MSA.It is main
From selecting, MSA is to computer mode RS of all computers and related with the current state of computer.The look-up table realized
When effectively lattice illustrate two computers operation principle.
Following time window ZE is excluded or is minimized by the method according to the invention and the system according to the present invention 1：
In the time window, no computer provides control data as main equipment.Thus the stability and therefore safety of system are improved
Property.
Another advantage of the system according to the present invention 1 is to minimize the switching period, namely when computer has occupied
When main equipment-role, the computer remains main equipment as far as possible for a long time.Thus equally improve system 1, especially
It is the stability for adjusting algorithm, thus improves the safety in system 1.Additionally, the method according to the invention and system 1 ensure,
Constantly with the actuator 3 of maximum or optimum Properties Control or runtime 1.Thus also improve the fortune of system 1
Row safety.Control data is preferably included by computer-generated data, especially rated value.In the system according to the present invention 1
In, except master-computer mode and from-computer mode in addition to also using m- computer mode in main, m- meter in the master
Calculation machine state is used for the mutually coordinated of computer and especially also avoids or minimize master-main conflict.Thus exclude or most
The following time window of littleization：In the time window, dereliction-computer is available.In addition to the state of its own, each calculating
Machine considers power data and the status data exchanged with other computer.Preferably, additionally treating what is occupied by computer
The expection of other computer is together considered in terms of computer mode.Interruption appearance also preferably computer mode or
Together considered in the determination of control authority.
The method according to the invention and system 1 can be applied with varied, especially with distributed computer structure
The critical system of safety in apply.The method according to the invention and system 1 are for example adapted for industrial equipment or manufacturing equipment
And it is suitable for conveying arrangement, such as train or motor vehicles.
In a kind of possible embodiment of the method according to the invention, computer can occupy different inside shapes
State, such as DDC- states（Duplexing control-computer mode）.These states for example include " being activation ", " I am just initial
Change ", " be located at completely available shortly before ", " completely available ", " just recognized in the entire system I work as anterior angle
Color ", " maintaining my role as the main equipment in whole system ", " using I am as the revocation of main equipment and am changed into from setting
It is standby " etc..
Jing control authorize computer be capable of control system 1 actuator 3 and can become with remaining computer or
Person remaining system 1 is with regard to following unification：I.e. finally who should control actuator 3.If computer is held from equipment-role,
The computer also calculates control data SD for actuator 3 and the control data is written in internal storage.
However, such control data SD is not forwarded in actuator 3 by the computer occupied from-computer mode S-RS.Only
Want computer to occupy main equipment-role and possessed master-computer mode M-RS, then passing through for actuator 3 does not occur
The control of another computer.
Due to existing in system 1 and desired asynchronism, calculate first, if the calculating of the determination in system 1
Machine can occupy main equipment-role, wherein yet with the asynchronism, corresponding result must also be for another in system 1
Outer circulation keeps unchangeably to be present.This necessity corresponding to the time demand for confirmation, namely when waiting one to confirm
Between section.Such acknowledging time is preferably together considered in all important related calculating.Computer to switch in this true
Recognize the time period expire after just occur.
The actuator 3 of system 1 or executor are controlled by computer application A.Complicated system 1 can include multiple
Executor.In this case, control data SD can also be generated jointly by multiple different applications or a subregion cluster PC.
Claims (15)
1. a kind of system（1）, the system has：
At least two asynchronous computers（2-i）, at least one application is performed respectively at least two asynchronous computer
（A）, at least one application offer is at least one actuator（3）Control data（SD）, the control provided in which
Data processed（SD）By occupying master-computer mode（M-RS）Jing control authorize computer（2-i）Transmit to the execution machine
Structure（3）For the control of the actuator,
Wherein described system（1）Computer（2-i）By data-interface in data exchange（DAS）In be cyclically exchanged with each other shape
State data（ZD）And power data（LD）,
Wherein described computer（2-i）It is based respectively in the data exchange（DAS）In from other computer（2-j）Obtain
Status data and power data（ZDopp, LDopp）And based on itself status data and power data（ZDown, LDown）
The computer（2-i）The principal and subordinate of upper execution selects（MSA）Middle determination is treated by corresponding computer（2-i）The conduct for itself occupying
Computer that is that Jing controls are authorized or authorizing without control（2-i）Computer mode（RS）.
2. system according to claim 1,
Its Computer（2-i）The status data for being exchanged（ZD）With the computer（2-i）Following status data：Institute
State the computer mode that status data illustrates the computer（RS）.
3. system according to claim 2,
Its Computer（2-i）Computer mode（RS）Have：
Master-the computer mode of the computer for controlling to authorize as Jing（M-RS）、
As the computer authorized without control from-computer mode（S-RS）, and
As m- computer mode in the master of the computer for still being authorized by control（MI-RS）.
4. system according to any one of claim 1 to 3, wherein the system（1）Each computer（2-i）Point
Time window belonging to sending out（ZF）, the computer described in the time window（2-i）Occupy in order to avoid master-main conflict in master
M- computer mode（MI-RS）, wherein assigned for the system（1）Different computers（2-i）Time window（ZF）
It is different.
5. system according to claim 4,
The computer is dispatched to wherein（2-i）Time window（ZF）The respectively greater than following time period（ZS）：The time period leads to
Cross in the computer（2-i）Asynchronism during mutual communication cycle and/or by the computer（2-i）During startup
Asynchronism causes.
6. the system according to claim 4 or 5,
Two different computers are dispatched to wherein（2-i, R-j）Two time windows（ZF）Time difference be more than the following time period
（ZS）, the time period（ZS）It is required to reply for the data transfer to computer other respectively.
7. system according to any one of claim 1 to 6, its Computer（2-i）After acknowledging time section expires
Just occupy the computer mode determined for the computer of the computer（RS）.
8. system according to any one of claim 1 to 7, wherein the system（1）Each computer（2-i）It is based on
With other computer（2-j）Data exchange（DAS）The status data and power data of middle acquisition（ZDopp, LDopp）And
Based on itself status data and power data（ZDown, LDown）For the other computer（2-j）A phase is determined respectively
Prestige-computer mode（E-RS）.
9. system according to claim 8, wherein the system（1）Each computer（2-i）It is based respectively on described
Status data and power data（ZDown, LDown, ZDopp, LDopp）And based on by remaining computer（R-j）For involved
Computer（2-i）It is determined that expectation-computer mode（E-RS）In the computer（2-i）The principal and subordinate of upper execution selects
（MSA）Middle determination is treated by the computer（2-i）The computer mode itself occupied（RS）.
10. system according to any one of claim 1 to 9, wherein additionally according in computer（2-i）Middle appearance
At least one computer interrupts（RI）, especially power breakdown to be being treated by the computer（2-i）The computer for occupying
State（RS）Determination.
11. systems according to any one of claim 1 to 10, wherein the system（1）Be redundancy safety it is critical
System, especially distributed system, the anti-ground transmitting control data that fails of the system（SD）To at least one actuator
（AKT）On.
12. systems according to any one of claim 1 to 11, wherein in computer（2-i）The confirmation time period expire
Occupy the master-computer mode determined for the computer afterwards（M-RS）Computer（2-i）Transmitting control data（SD）Extremely
The actuator（3）And it is always maintained at the master-computer mode occupied of the computer（M-RS）, until described
Computer（2-i）The principal and subordinate of upper execution selects（MSA）It is determined that being used for the computer（2-i）Another computer mode（RS）.
13. systems according to any one of claim 1 to 12, wherein only when up to the present having occupied main-meter
Calculation machine state（M-RS）Other computer（2-j）Occupy other computer mode（RS）And in involved computer
（2-i）The principal and subordinate of upper execution selects（MSA）For involved computer（2-i）It is determined that master-computer mode（M-RS）When,
Occupy from-computer mode（S-RS）Computer（2-i）Just from its occupied from-computer mode（S-RS）Conversion
To the master-computer mode（M-RS）.
14. systems according to any one of claim 1 to 13, its Computer（2-i）Status data（ZD）Explanation
The computer（2-i）State and the power data（LD）Illustrate in the computer（2-i）On it is described in order to produce
Control data（SD）And at least one application for performing（A）Performance.
15. one kind are used to assign control authority to system（1）One of multiple asynchronous computers method, wherein the control
Limit authorizes the computer（2）To control actuator（3）, methods described has steps of：
（a）By in corresponding computer（2-i）The principal and subordinate of upper execution selects（MSA）Based in data exchange（DAS）In from another
Outer computer（2-j）The status data and power data of acquisition（ZDopp, LDopp）And it is based on corresponding computer（2-
i）The status data of itself and power data（ZDown, LDown）For each computer（2-i）It is determined that treating by corresponding meter
Calculation machine（2-i）The computer mode occupied（RS）；
（b）Assign（S2）For controlling the actuator（3）Control authority give lower computer（2）：For the calculating
Machine is selected in its principal and subordinate（MSA）Middle determination master-computer mode（M-RS）.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014214974 | 2014-07-30 | ||
| DE102014214974.6 | 2014-07-30 | ||
| PCT/EP2015/067031 WO2016016135A1 (en) | 2014-07-30 | 2015-07-24 | Method and system for assigning a control authorization to a computer |
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| CN106537268A true CN106537268A (en) | 2017-03-22 |
| CN106537268B CN106537268B (en) | 2019-10-11 |
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|---|---|
| US (1) | US10613502B2 (en) |
| EP (1) | EP3143506B1 (en) |
| KR (1) | KR101995515B1 (en) |
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| WO (1) | WO2016016135A1 (en) |
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| WO2018184699A1 (en) * | 2017-04-07 | 2018-10-11 | Ecole Polytechnique Federale De Lausanne (Epfl) | A controller and an agreement protocol for a real-time control system |
| US10843792B2 (en) | 2018-02-01 | 2020-11-24 | Hamilton Sundstrand Corporation | Autonomous reconfiguration of a multi-redundant actuator control system |
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- 2015-07-24 KR KR1020177005634A patent/KR101995515B1/en active IP Right Grant
- 2015-07-24 CN CN201580040702.5A patent/CN106537268B/en active Active
- 2015-07-24 EP EP15745429.9A patent/EP3143506B1/en active Active
- 2015-07-24 US US15/500,381 patent/US10613502B2/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3143506B1 (en) | 2019-09-04 |
| CN106537268B (en) | 2019-10-11 |
| EP3143506A1 (en) | 2017-03-22 |
| US10613502B2 (en) | 2020-04-07 |
| WO2016016135A1 (en) | 2016-02-04 |
| US20170220018A1 (en) | 2017-08-03 |
| KR101995515B1 (en) | 2019-07-02 |
| KR20170039256A (en) | 2017-04-10 |
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